Difference: Rtabmap (1 vs. 2)

1. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc

How to Use RTabMap, ROS, and BB2 Driver

1. Required packages:
   • sudo apt-get install ros-indigo-rtabmap-ros
   • sudo apt-get install ros-indigo-stereo-image-proc
2. Download launch file on the bottom.
3. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
4. On the robot, run the stereo_camera node.
5. On the server, in one terminal, run ROS_NAMESPACE=camera rosrun stereo_image_proc stereo_image_proc
6. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
7. Run roslaunch rtabmap_ros disparity_to_dep.launch

• To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"

• To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"

• To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"

• There's more information at the following links:

  http://wiki.ros.org/stereo_image_proc

  http://wiki.ros.org/rtabmap_ros

Permissions

• Persons/group who can view/change the page:

• Set ALLOWTOPICVIEW = FRCVRoboticsGroup
• Set ALLOWTOPICCHANGE = FRCVRoboticsGroup

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